version: 66.04
glider: 166
mission: 2
dive: 62
start: 5 31 109 20 58 48
data:
$ID,166
$MISSION,2
$DIVE,62
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,100
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,300
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51956
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-6404.9443
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2739
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24.5
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1500
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,55
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2863
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.273609
$PRESSURE_SLOPE,0.0001160501
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,200
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043153614
$SEABIRD_T_H,0.00063164165
$SEABIRD_T_I,2.3580644e-05
$SEABIRD_T_J,2.4654264e-06
$SEABIRD_C_G,-9.9826469
$SEABIRD_C_H,1.1204658
$SEABIRD_C_I,-0.0010752195
$SEABIRD_C_J,0.00016642714
$GPS1,205225,2530.773,12303.780,40,1.2,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-70.3
$GPS2,205826,2530.824,12303.750,14,1.3,14,-3.7
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,OFF_4
$TGT_LATLONG,2517.000,12320.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,167.7,37363,-17.1,-11.000
$D_GRID,792
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.94,-194.7,0.0,0.0,0,75,0.00,0.00,-58.60,0.000,2,0.000,0.000,166,1489,2431
$GC,77,-0.94,-194.7,3.2,-5.4,9,128,9.02,0.00,-35.28,0.000,6,0.237,0.000,2429,1488,3659
$GC,467,-0.16,-194.7,126.0,-33.3,77,474,0.82,1.90,0.00,0.000,4,0.167,0.041,2676,204,3659
$GC,559,-0.66,-194.7,135.4,-4.9,93,566,0.38,1.90,0.00,0.000,6,0.037,0.028,2504,1526,3661
$GC,903,-0.39,-194.7,196.9,-18.7,154,910,0.32,1.98,0.00,0.000,4,0.138,0.042,2607,198,3661
$GC,983,-0.64,-194.7,205.8,-8.7,168,990,0.15,1.85,0.00,0.000,6,0.044,0.028,2504,1490,3662
$GC,1328,-0.49,-194.7,256.8,-15.1,229,1335,0.22,1.92,0.00,0.000,4,0.138,0.043,2576,197,3663
$GC,1364,-0.59,-194.7,261.3,-10.9,235,1370,0.00,1.83,0.00,0.000,6,0.000,0.028,2576,1486,3663
$GC,1707,-0.84,-194.7,288.2,-7.8,296,1714,0.28,2.05,0.00,0.000,4,0.048,0.039,2443,2891,3663
$GC,1753,-0.62,-194.7,294.0,-14.2,304,1760,0.30,2.03,0.00,0.000,6,0.144,0.033,2537,1487,3663
$GC,2083,-0.71,-194.7,330.3,-9.7,339,2084,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1487,3663
$GC,2401,-0.82,-194.7,361.3,-9.0,369,2405,0.17,2.08,0.00,0.000,4,0.061,0.042,2439,2882,3662
$GC,2434,-0.73,-194.7,365.2,-12.3,372,2438,0.17,2.03,0.00,0.000,6,0.144,0.035,2505,1495,3663
$GC,2764,-0.73,-194.7,395.4,-8.5,403,2768,0.00,2.08,0.00,0.000,4,0.000,0.044,2487,2892,3661
$GC,2810,-0.84,-194.7,398.8,-7.4,407,2814,0.00,2.03,0.00,0.000,6,0.000,0.035,2494,1503,3661
$GC,3139,-0.84,-194.7,429.4,-10.0,438,3143,0.00,1.95,0.00,0.000,4,0.000,0.056,2494,197,3660
$GC,3221,-0.84,-194.7,438.8,-11.0,445,3228,0.00,1.88,0.00,0.000,6,0.000,0.032,2484,1476,3660
$GC,3547,-0.89,-194.7,473.3,-10.9,476,3550,0.00,2.10,0.00,0.000,4,0.000,0.054,2482,2889,3657
$GC,3596,-1.04,-194.7,478.5,-9.8,480,3603,0.17,2.08,0.00,0.000,6,0.046,0.043,2392,1500,3657
$GC,3927,-0.78,-194.7,529.4,-14.7,503,3932,0.28,2.12,0.00,0.000,4,0.153,0.055,2479,2900,3655
$GC,3970,-0.92,-194.7,534.2,-8.6,505,3975,0.08,2.08,0.00,0.000,6,0.058,0.038,2414,1514,3654
$GC,4299,-0.73,-194.7,575.3,-13.6,521,4303,0.25,2.00,0.00,0.000,4,0.148,0.053,2496,194,3653
$GC,4383,-0.82,-194.7,584.3,-9.5,525,4386,0.00,1.90,0.00,0.000,6,0.000,0.036,2494,1494,3652
$GC,4715,-0.96,-194.7,613.1,-8.7,541,4717,0.17,0.00,0.00,0.000,6,0.062,0.000,2415,1496,3649
$GC,5023,-0.81,-194.7,654.2,-13.7,556,5027,0.17,1.98,0.00,0.000,4,0.155,0.054,2471,206,3646
$GC,5061,-0.81,-194.7,658.9,-12.0,557,5068,0.00,1.90,0.00,0.000,6,0.000,0.037,2472,1478,3646
$GC,5379,-0.87,-194.7,692.2,-10.6,573,5383,0.00,2.15,0.00,0.000,4,0.000,0.053,2474,2907,3643
$STATE,5459,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5459,begin apogee
$GC,5465,-0.20,0.0,700.2,9.6,576,5626,0.57,0.00,158.30,1.254,6,0.117,0.000,2670,1737,2863
$STATE,5627,end apogee,CONTROL_FINISHED_OK
$STATE,5627,begin climb
$GC,5629,0.94,194.7,709.1,0.0,584,5801,1.00,2.40,163.43,1.220,4,0.051,0.054,3054,3150,2069
$GC,5942,0.43,194.7,671.3,19.7,598,5947,0.68,2.17,0.00,0.000,6,0.170,0.041,2880,1748,2063
$GC,6262,0.63,271.1,644.0,8.1,614,6332,0.17,2.30,64.03,1.187,4,0.061,0.055,2970,338,1756
$GC,6394,0.48,271.1,626.1,15.8,620,6399,0.28,2.15,0.00,0.000,6,0.147,0.040,2895,1727,1752
$GC,6714,0.63,290.9,593.7,10.2,636,6738,0.15,2.25,17.30,1.123,4,0.064,0.054,2969,345,1676
$GC,6793,0.49,290.9,581.5,17.1,639,6798,0.25,2.15,0.00,0.000,6,0.147,0.041,2900,1747,1674
$GC,7114,0.60,290.9,542.8,11.9,655,7118,0.00,2.20,0.00,0.000,4,0.000,0.056,2901,336,1671
$GC,7182,0.73,290.9,534.5,12.0,658,7186,0.20,2.08,0.00,0.000,6,0.058,0.041,2990,1714,1671
$GC,7501,0.49,290.9,475.7,18.7,679,7506,0.28,2.20,0.00,0.000,4,0.153,0.054,2899,3147,1670
$GC,7623,0.60,290.9,460.6,11.2,689,7629,0.00,2.12,0.00,0.000,6,0.000,0.041,2913,1731,1668
$GC,7948,0.69,290.9,423.1,11.3,720,7953,0.12,2.12,0.00,0.000,4,0.070,0.054,2985,346,1667
$GC,8021,0.52,290.9,411.9,17.1,726,8028,0.28,2.08,0.00,0.000,6,0.146,0.041,2906,1744,1667
$GC,8346,0.73,320.0,379.2,9.9,757,8380,0.20,2.20,24.33,1.051,4,0.055,0.053,3001,3140,1557
$GC,8396,0.51,320.0,370.9,18.8,761,8403,0.32,2.17,0.00,0.000,6,0.148,0.039,2903,1731,1555
$GC,8721,0.69,320.0,336.5,11.3,792,8726,0.17,2.12,0.00,0.000,4,0.058,0.053,2996,351,1553
$GC,8798,0.65,320.0,323.5,18.0,798,8805,0.15,2.10,0.00,0.000,6,0.149,0.039,2950,1732,1552
$GC,9133,0.65,320.0,276.0,12.5,845,9138,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1734,1552
$GC,9475,0.70,320.0,234.9,11.9,906,9481,0.00,2.17,0.00,0.000,4,0.000,0.050,2946,3145,1551
$GC,9543,0.76,320.0,224.8,15.9,918,9550,0.10,2.10,0.00,0.000,6,0.074,0.038,3005,1721,1551
$GC,9888,0.61,320.0,165.6,13.2,979,9896,0.20,2.05,0.00,0.000,4,0.148,0.048,2950,347,1551
$GC,9958,0.80,385.6,158.5,8.5,991,10019,0.15,2.03,54.42,0.853,6,0.064,0.036,3029,1735,1289
$GC,10358,0.69,385.6,91.8,15.6,1060,10365,0.20,2.12,0.00,0.000,4,0.140,0.046,2973,346,1284
$GC,10399,0.86,410.4,86.8,10.1,1067,10427,0.12,2.03,21.48,0.759,6,0.066,0.033,3043,1732,1188
$GC,10767,0.80,410.4,34.0,14.8,1131,10775,0.17,2.12,0.00,0.000,4,0.140,0.044,2995,333,1185
$GC,10922,1.05,435.3,18.0,10.1,1158,10949,0.22,2.03,21.85,0.689,6,0.049,0.031,3105,1736,1088
$STATE,11005,end climb,SURFACE_DEPTH_REACHED
$STATE,11005,begin surface coast
$FINISH,1.0,1.022359
$STATE,11020,end surface coast,CONTROL_FINISHED_OK
$STATE,11020,begin surface
$SM_CCo,11094,0.00,0.000,0,0,1083,436.63
$SM_GC,1.83,7.80,0.00,0.00,0.044,0.000,0.000,157,1495,1083,-8.01,-0.14,436.63
$IRIDIUM_FIX,2522.28,12304.33,250898,171716
$TT8_MAMPS,0.026845
$HUMID,1487
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,24.30
$XPDR_PINGS,103
$ALTIM_BOTTOM_PING,700.2,20.5
$24V_AH,24.0,15.851
$10V_AH,10.7,9.612
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,26.775,99.350,525.125,0.000,0.000,22.627,42.616,193.870,31.250,0.000,0.000,15.095,2073.087,6028.985,598.165,2342.642,406.868,0.000,1673.724,0.000,2321.739,0.000,39.948,0.000
$DEVICE_MAMPS,237.003,55.991,1254.045,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,796.588,799.074,1343.812,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69535,1174
$CAP_FILE_SIZE,128617,0
$CFSIZE,260165632,230187008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.151, 42.0,1
$GPS,010609,000454,2529.737,12305.005,40,1.2,40,-3.7